function

SLAM.Localization.RGBDLocalizationCatalog.CanAdvance

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type
input	`previous`	`State`
input	`intervalTime`	`Real`
input	`h`	`Real`
input	`initializing`	`Boolean`
input	`requested`	`Boolean`
output	`allowed`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function CanAdvance
    input State previous; input Real intervalTime; input Real h;
    input Boolean initializing; input Boolean requested;
    output Boolean allowed;
  algorithm
    allowed := false;
    if requested then
      allowed := ValidHeader(previous) and intervalTime >= 0.0 and intervalTime <= 1e9;
      if initializing then
        allowed := allowed and not previous.initialized
          and SLAMExactRealEqual(intervalTime,0.0) and SLAMExactRealEqual(h,0.0);
      else
        allowed := allowed and previous.initialized and ES15HeldIntervalValid(h)
          and intervalTime > previous.predictionTime
          and abs(intervalTime-previous.predictionTime-h) <= 1e-12*max(1.0,abs(intervalTime));
      end if;
    end if;
  end CanAdvance;